{"id":61341,"date":"2026-01-17T12:49:29","date_gmt":"2026-01-17T04:49:29","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/61341.html"},"modified":"2026-01-17T12:49:29","modified_gmt":"2026-01-17T04:49:29","slug":"linux%ef%bc%9a%e7%89%a9%e7%90%86%e4%bb%bf%e7%9c%9f%e4%b8%8e-gazebo-%e4%b8%96%e7%95%8c","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/61341.html","title":{"rendered":"Linux\uff1a\u7269\u7406\u4eff\u771f\u4e0e Gazebo \u4e16\u754c"},"content":{"rendered":"

\u4eca\u5929\u7684\u4e3b\u9898\u662f：\u7ed9\u673a\u5668\u4eba\u8d4b\u4e88\u201c\u7269\u7406\u8089\u4f53\u201d\u3002<\/p>\n

\u5728 Rviz \u91cc，\u4f60\u7684\u673a\u5668\u4eba\u53ea\u662f\u4e2a\u201c\u5168\u606f\u6295\u5f71\u201d，\u597d\u770b\u4f46\u4e0d\u80fd\u6253\u3002<\/p>\n

\u4e3a\u4e86\u8ba9\u5b83\u80fd\u8fdb Gazebo（\u90a3\u4e2a\u6709\u91cd\u529b\u3001\u6709\u78b0\u649e\u7684\u771f\u5b9e\u4e16\u754c），\u6211\u4eec\u5fc5\u987b\u7ed9\u5b83\u52a0\u4e0a\u4e24\u6837\u4e1c\u897f：<\/p>\n

  • \n

    \u78b0\u649e\u4f53\u79ef (Collision)：\u7a7f\u4e0a\u201c\u9632\u5f39\u8863\u201d，\u8ba9\u5b83\u80fd\u649e\u5230\u4e1c\u897f，\u800c\u4e0d\u662f\u7a7f\u5899\u800c\u8fc7\u3002<\/p>\n<\/li>\n

  • \n

    \u60ef\u6027\u77e9\u9635 (Inertial)：\u544a\u8bc9\u7535\u8111\u5b83\u6709\u591a\u91cd (Mass) \u4ee5\u53ca\u91cd\u5fc3\u5728\u54ea\u3002<\/p>\n<\/li>\n

    \n

    \u7b2c\u4e00\u6b65：\u51c6\u5907\u201c\u6570\u5b66\u516c\u5f0f\u201d (Inertial Macros)<\/h4>\n

    (\u65e5\u5e38\u63d0\u9192\u8981\u5728\u5b58\u653eLinux\u7684\u5730\u76d8（cd ~\/ros2_ws)）<\/p>\n

    \u7ed9\u673a\u5668\u4eba\u7b97\u60ef\u6027\u77e9\u9635\u662f\u5f88\u75db\u82e6\u7684<\/p>\n

    \u4f5c\u4e3a\u61d2\u4eba\u5de5\u7a0b\u5e08，\u6211\u4eec\u5f53\u7136\u8981\u7528 Xacro \u5b8f \u6765\u81ea\u52a8\u7b97！<\/p>\n

    \u8bf7\u6253\u5f00\u4f60\u7684 Xacro \u6587\u4ef6：<\/p>\n

    Bash<\/p>\n

    nano src\/my_robot_description\/urdf\/my_robot.urdf.xacro<\/p>\n

    \u64cd\u4f5c\u4efb\u52a1：<\/p>\n

    \u8bf7\u628a\u4e0b\u9762\u8fd9\u6bb5\u201c\u4e07\u80fd\u516c\u5f0f\u201d\u590d\u5236\u7c98\u8d34\u5230 \u53d8\u91cf\u5b9a\u4e49 (property) \u7684\u4e0b\u9762，\u4f46\u5728 base_link \u7684\u4e0a\u9762\u3002<\/p>\n

    (\u8fd9\u6bb5\u4ee3\u7801\u5b9a\u4e49\u4e86\u7403\u4f53\u3001\u65b9\u5757\u3001\u5706\u67f1\u4f53\u7684\u60ef\u6027\u8ba1\u7b97\u516c\u5f0f，\u4ee5\u540e\u76f4\u63a5\u8c03\u7528\u5c31\u884c)<\/p>\n

    XML<\/p>\n

    <xacro:macro name="inertial_sphere" params="mass radius">
    \n <inertial>
    \n <mass value="${mass}"\/>
    \n <inertia ixx="${(2\/5) * mass * (radius*radius)}" ixy="0.0" ixz="0.0"
    \n iyy="${(2\/5) * mass * (radius*radius)}" iyz="0.0"
    \n izz="${(2\/5) * mass * (radius*radius)}"\/>
    \n <\/inertial>
    \n <\/xacro:macro><\/p>\n

    <xacro:macro name="inertial_box" params="mass x y z">
    \n <inertial>
    \n <mass value="${mass}"\/>
    \n <inertia ixx="${(1\/12) * mass * (y*y+z*z)}" ixy="0.0" ixz="0.0"
    \n iyy="${(1\/12) * mass * (x*x+z*z)}" iyz="0.0"
    \n izz="${(1\/12) * mass * (x*x+y*y)}"\/>
    \n <\/inertial>
    \n <\/xacro:macro><\/p>\n

    <xacro:macro name="inertial_cylinder" params="mass length radius">
    \n <inertial>
    \n <mass value="${mass}"\/>
    \n <inertia ixx="${(1\/12) * mass * (3*radius*radius + length*length)}" ixy="0.0" ixz="0.0"
    \n iyy="${(1\/12) * mass * (3*radius*radius + length*length)}" iyz="0.0"
    \n izz="${(1\/2) * mass * (radius*radius)}"\/>
    \n <\/inertial>
    \n <\/xacro:macro>
    \n ```<\/p>\n

    \u7c98\u8d34\u597d\u540e，\u4fdd\u5b58\u9000\u51fa，\u786e\u4fdd\u6ca1\u6709\u62a5\u9519\u3002<\/p>\n

    —<\/p>\n

    ### \u7b2c\u4e8c\u6b65：\u6539\u9020\u8eab\u4f53 (`base_link`)<\/p>\n

    \u73b0\u5728\u6211\u4eec\u8981\u7ed9\u84dd\u8272\u7684\u8f66\u8eab\u52a0\u4e0a\u201c\u9632\u5f39\u8863\u201d\u548c\u201c\u4f53\u91cd\u201d\u3002<\/p>\n

    \u518d\u6b21\u6253\u5f00\u6587\u4ef6，\u627e\u5230 `<link name="base_link">` \u90e8\u5206\u3002<\/p>\n

    \u4f60\u9700\u8981\u505a\u4e24\u4ef6\u4e8b：
    \n1. **\u52a0 Collision (\u9632\u5f39\u8863)**：\u901a\u5e38\u5f62\u72b6\u548c Visual (\u5916\u89c2) \u4e00\u6837\u3002
    \n2. **\u52a0 Inertial (\u4f53\u91cd)**：\u8c03\u7528\u521a\u624d\u5199\u7684\u5b8f\u3002<\/p>\n

    **\u8bf7\u628a\u4f60\u7684 `base_link` \u4fee\u6539\u6210\u4e0b\u9762\u8fd9\u6837（\u6ce8\u610f\u770b\u65b0\u589e\u7684\u90e8\u5206）：**<\/p>\n

    ```xml
    \n <link name="base_link">
    \n <visual>
    \n <geometry>
    \n <box size="${base_length} ${base_width} ${base_height}"\/>
    \n <\/geometry>
    \n <material name="blue">
    \n <color rgba="0 0 1 1"\/>
    \n <\/material>
    \n <\/visual><\/p>\n

    <collision>
    \n <geometry>
    \n <box size="${base_length} ${base_width} ${base_height}"\/>
    \n <\/geometry>
    \n <\/collision><\/p>\n

    <xacro:inertial_box mass="1.0" x="${base_length}" y="${base_width}" z="${base_height}"\/>
    \n <\/link><\/p>\n

    \n

    \u7b2c\u4e09\u6b65：\u6539\u9020\u8f6e\u5b50 (setup_wheel \u5b8f)<\/h4>\n

    \u8f6e\u5b50\u4e5f\u8981\u6709\u7269\u7406\u5c5e\u6027，\u4e0d\u7136\u5b83\u652f\u6491\u4e0d\u4f4f\u8f66\u8eab\u3002<\/p>\n

    \u627e\u5230\u4f60\u7684 setup_wheel \u5b8f\u5b9a\u4e49，\u5728 <link name="${prefix}_wheel_link"> \u91cc\u9762\u4fee\u6539\u3002<\/p>\n

    \u4fee\u6539\u540e\u7684\u5b8f\u5e94\u8be5\u662f\u8fd9\u6837\u7684：<\/p>\n

    XML<\/p>\n

    <xacro:macro name="setup_wheel" params="prefix y_reflect">
    \n <xacro:property name="z_offset" value="-0.05"\/>
    \n <link name="${prefix}_wheel_link">
    \n <visual>
    \n <geometry>
    \n <cylinder radius="${wheel_radius}" length="${wheel_length}"\/>
    \n <\/geometry>
    \n <material name="grey">
    \n <color rgba="0.5 0.5 0.5 1"\/>
    \n <\/material>
    \n <\/visual><\/p>\n

    <collision>
    \n <geometry>
    \n <cylinder radius="${wheel_radius}" length="${wheel_length}"\/>
    \n <\/geometry>
    \n <\/collision><\/p>\n

    <xacro:inertial_cylinder mass="0.1" length="${wheel_length}" radius="${wheel_radius}"\/>
    \n <\/link><\/p>\n

    <joint name="base_to_${prefix}_wheel" type="continuous">
    \n … (\u4fdd\u6301\u539f\u6837) …
    \n <\/joint>
    \n <\/xacro:macro><\/p>\n

    \n

    \u7b2c\u56db\u6b65：\u6539\u9020\u4e07\u5411\u8f6e (caster_wheel_link)<\/h4>\n

    \u6700\u540e\u662f\u90a3\u4e2a\u5c0f\u767d\u7403\u3002<\/p>\n

    \u627e\u5230 caster_wheel_link，\u4fee\u6539\u5982\u4e0b：<\/p>\n

    XML<\/p>\n

    <link name="caster_wheel_link">
    \n <visual>
    \n <geometry>
    \n <sphere radius="0.05"\/>
    \n <\/geometry>
    \n <material name="white">
    \n <color rgba="1 1 1 1"\/>
    \n <\/material>
    \n <\/visual><\/p>\n

    <collision>
    \n <geometry>
    \n <sphere radius="0.05"\/>
    \n <\/geometry>
    \n <\/collision><\/p>\n

    <xacro:inertial_sphere mass="0.1" radius="0.05"\/>
    \n <\/link><\/p>\n

    \n

    🧪 \u9636\u6bb5\u6027\u68c0\u67e5<\/h4>\n

    \u6539\u4e86\u8fd9\u4e48\u591a\u5730\u65b9，\u4e00\u5b9a\u8981\u68c0\u67e5\u4e00\u4e0b\u8bed\u6cd5\u6709\u6ca1\u6709\u5199\u9519（\u6bd4\u5982\u6807\u7b7e\u6ca1\u95ed\u5408）\u3002<\/p>\n

  • \n

    \u7ffb\u8bd1\u4e00\u4e0b：<\/p>\n

    Bash<\/p>\n

    xacro src\/my_robot_description\/urdf\/my_robot.urdf.xacro > check.urdf<\/p>\n

    (\u5982\u679c\u6ca1\u6709\u62a5\u9519，\u8bf4\u660e Xacro \u8bed\u6cd5\u901a\u8fc7！)<\/p>\n<\/li>\n

  • \n

    \u5982\u679c\u62a5\u9519\u4f8b\u5982\u62a5\u9519\u572858\u884c：\u00a0 \u00a0 \u600e\u4e48\u5feb\u901f\u5b9a\u4f4d\u7b2c 58 \u884c？<\/p>\n<\/li>\n

  • \n

    \u5728 Nano \u7f16\u8f91\u5668\u91cc： 1. \u6309 **`Ctrl + _`** (\u6709\u7684\u952e\u76d8\u662f `Ctrl + Shift + -`，\u5c31\u662f\u4e0b\u5212\u7ebf\u90a3\u4e2a\u952e)\u3002 2. \u5c4f\u5e55\u4e0b\u65b9\u4f1a\u63d0\u793a `Enter line number, column number:`\u3002 3. \u8f93\u5165 **`58`** \u7136\u540e\u56de\u8f66\u3002 4. \u5149\u6807\u4f1a\u76f4\u63a5\u8df3\u5230\u62a5\u9519\u7684\u5730\u65b9\u3002**\u770b\u770b\u5149\u6807\u4e0a\u9762\u662f\u4e0d\u662f\u5c11\u4e86\u4e00\u4e2a\u7ed3\u675f\u6807\u7b7e `<\/…>`？**<\/p>\n<\/li>\n

  • \n

    \u770b\u4e00\u773c Rviz（\u786e\u4fdd\u5916\u89c2\u6ca1\u53d8）：<\/p>\n

    Bash<\/p>\n

    ros2 launch urdf_tutorial display.launch.py model:=$(pwd)\/check.urdf<\/p>\n

    (\u8fd9\u4e00\u6b65 Rviz \u91cc\u770b\u8d77\u6765\u5e94\u8be5\u5b8c\u5168\u6ca1\u6709\u53d8\u5316\u3002\u5982\u679c\u4f60\u80fd\u5728 Rviz \u91cc\u770b\u5230 "Collision Enabled" \u7684\u9009\u9879\u52fe\u9009\u4e0a\u540e\u51fa\u73b0\u4e86\u534a\u900f\u660e\u7684\u5916\u58f3，\u90a3\u5c31\u66f4\u597d\u4e86，\u4e0d\u8fc7\u901a\u5e38\u53ea\u8981\u8f66\u8fd8\u5728\u5c31\u884c)<\/p>\n<\/li>\n

    \u6253\u5f00Collision Enabled \u5728 Rviz \u5de6\u4fa7\u7684\u663e\u793a\u9762\u677f（Displays）\u91cc：<\/p>\n

  • \n

    \u627e\u5230 RobotModel \u8fd9\u4e00\u9879\u3002<\/p>\n<\/li>\n

  • \n

    \u70b9\u51fb\u5b83\u524d\u9762\u7684\u5c0f\u4e09\u89d2 \u25b6 \u628a\u5b83\u5c55\u5f00\u3002<\/p>\n<\/li>\n

  • \n

    \u5728\u5c55\u5f00\u7684\u5217\u8868\u91cc，\u627e\u4e00\u4e2a\u53eb Collision Enabled \u7684\u590d\u9009\u6846\u3002<\/p>\n<\/li>\n

  • \n

    \u6253\u52fe \u3002<\/p>\n<\/li>\n

    <\/p>\n

    \u00a0<\/p>\n

    \u00a0<\/p>\n

    \u00a0<\/p>\n","protected":false},"excerpt":{"rendered":"

    \u4eca\u5929\u7684\u4e3b\u9898\u662f：\u7ed9\u673a\u5668\u4eba\u8d4b\u4e88\u201c\u7269\u7406\u8089\u4f53\u201d\u3002\u5728 Rviz \u91cc，\u4f60\u7684\u673a\u5668\u4eba\u53ea\u662f\u4e2a\u201c\u5168\u606f\u6295\u5f71\u201d，\u597d\u770b\u4f46\u4e0d\u80fd\u6253\u3002\u4e3a\u4e86\u8ba9\u5b83\u80fd\u8fdb Gazebo（\u90a3\u4e2a\u6709\u91cd\u529b\u3001\u6709\u78b0\u649e\u7684\u771f\u5b9e\u4e16\u754c），\u6211\u4eec\u5fc5\u987b\u7ed9\u5b83\u52a0\u4e0a\u4e24\u6837\u4e1c\u897f：\u78b0\u649e\u4f53\u79ef (Collision)：\u7a7f\u4e0a\u201c\u9632\u5f39\u8863\u201d，\u8ba9\u5b83\u80fd\u649e\u5230\u4e1c\u897f，\u800c\u4e0d\u662f\u7a7f\u5899\u800c\u8fc7\u3002\u60ef\u6027\u77e9\u9635 (Inertial)：\u544a\u8bc9\u7535\u8111\u5b83\u6709\u591a\u91cd (Ma<\/p>\n","protected":false},"author":2,"featured_media":61340,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[6484,58,2968,103,384],"topic":[],"class_list":["post-61341","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-gazebo","tag-linux","tag-ros2","tag-ubuntu","tag-384"],"yoast_head":"\nLinux\uff1a\u7269\u7406\u4eff\u771f\u4e0e Gazebo \u4e16\u754c - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/61341.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Linux\uff1a\u7269\u7406\u4eff\u771f\u4e0e Gazebo \u4e16\u754c - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\u4eca\u5929\u7684\u4e3b\u9898\u662f：\u7ed9\u673a\u5668\u4eba\u8d4b\u4e88\u201c\u7269\u7406\u8089\u4f53\u201d\u3002\u5728 Rviz \u91cc，\u4f60\u7684\u673a\u5668\u4eba\u53ea\u662f\u4e2a\u201c\u5168\u606f\u6295\u5f71\u201d，\u597d\u770b\u4f46\u4e0d\u80fd\u6253\u3002\u4e3a\u4e86\u8ba9\u5b83\u80fd\u8fdb Gazebo（\u90a3\u4e2a\u6709\u91cd\u529b\u3001\u6709\u78b0\u649e\u7684\u771f\u5b9e\u4e16\u754c），\u6211\u4eec\u5fc5\u987b\u7ed9\u5b83\u52a0\u4e0a\u4e24\u6837\u4e1c\u897f：\u78b0\u649e\u4f53\u79ef (Collision)：\u7a7f\u4e0a\u201c\u9632\u5f39\u8863\u201d，\u8ba9\u5b83\u80fd\u649e\u5230\u4e1c\u897f，\u800c\u4e0d\u662f\u7a7f\u5899\u800c\u8fc7\u3002\u60ef\u6027\u77e9\u9635 (Inertial)：\u544a\u8bc9\u7535\u8111\u5b83\u6709\u591a\u91cd (Ma\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/61341.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-01-17T04:49:29+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260117044928-696b14d895a52.png\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"3 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/61341.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/61341.html\",\"name\":\"Linux\uff1a\u7269\u7406\u4eff\u771f\u4e0e Gazebo \u4e16\u754c - 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